Multiple Adaptive Fuzzy Tracking Controller for Complex Models of Continuum Robot Based on Error Upper Bound Estimation

Continuum robots, owing to their exceptional structural features, find extensive application in rescue operations, medical procedures, and other specialized environments. Because the robot has nonlinear properties and redundant degrees of freedom, the robot dynamics modeling is difficult, and the choice of control method is also very important. Based on the constant curvature hypothesis, eulbernoulli beam equation is used to model the dynamics of a linear driven continuum robot, a uses the fuzzy logic system to approximate the terms with high coupling in the model to improve the control accuracy. Multiple adaptive rate online estimation error upper bounds and other initialization parameters have been designed to reduce the problem of system instability caused by empirical parameter settings. Stability theory confirms the system's stability and ensures the states remain uniformly bounded. The numerical simulations also attest to the superior performance of the designed controller.